User Manual

9 Register Reference
Axis 1
AB
DF1,
CSP
Address
Modbus
TCP,
RTU
Address
FINS
Address
External
Data
Type
Internal
IEC
Address
Internal
Data
Type Register Name
Common Registers: All Axes
F9:0
4609
D04608
DWORD
%MD9.0
DWORD
Status Bits
F9:1
4611
D04610
DWORD
%MD9.1
DWORD
Error Bits
F9:2
4613
D04612
REAL
%MD9.2
DINT
Last Error Number
F9:4
4617
D04616
REAL
%MD9:4
REAL
Read Response
Position/Velocity Control
F9:6
4621
D04620
REAL
%MD9.6
DINT
Current Control Mode
F9:7
4623
D04622
REAL
%MD9.7
DINT
Next Pos/Vel Control Mode
Primary Input: Position/Velocity Axes
F9:8
4625
D04624
REAL
%MD9.8
REAL
Actual Position
F9:9
4627
D04626
REAL
%MD9.9
REAL
Actual Velocity
F9:10
4629
D04628
REAL
%MD9.10
REAL
Actual Acceleration
F9:11
4631
D04630
REAL
%MD9.11
REAL
Counts/Current/Voltage
F9:12
4633
D04632
DINT
%MD9.12
DINT
Raw Counts
Primary Input: Single-Input Pressure, Force, or Acceleration Axes
F9:8
4625
D04624
REAL
%MD9.8
REAL
Actual Pressure/Force, Actual
Acceleration
F9:9 4627
D04626
REAL
%MD9.9
REAL
Actual Pressure/Force Rate,
Actual Jerk
F9:11
4631
D04630
REAL
%MD9.11
REAL
Current/Voltage
F9:12
4633
D04632
DINT
%MD9.12
DINT
Raw Counts
Primary Input: Dual-Input Force or Acceleration Axes
F9:8
4625
D04624
REAL
%MD9.8
REAL
Actual Differential Force, Actual
Acceleration
F9:9 4627
D04626
REAL
%MD9.9
REAL
Actual Differential Force Rate,
Actual Jerk
F9:10 4629
D04628
REAL
%MD9.10
REAL
Actual Force A, Channel A
Acceleration
F9:11
4631
D04630
REAL
%MD9.11
REAL
Voltage A/Current A
F9:12
4633
D04632
DINT
%MD9.12
DINT
Raw Counts A
F9:13
4635
D04634
REAL
%MD9.13
REAL
Actual Force B, Channel B
Acceleration
F9:14
4637
D04636
REAL
%MD9.14
REAL
Voltage B/Current B
F9:15
4639
D04638
DINT
%MD9.15
DINT
Raw Counts B
Home/Registration: Quadrature Axes
F9:18
4645
D04644
DWORD
%MD9.18
DWORD
Home/Registration Bits
F9:19
4647
D04646
REAL
%MD9.19
REAL
Registration 0 Position
F9:20
4649
D04648
REAL
%MD9.20
REAL
Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
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